Impedance control based on optimal adaptive high order super twisting sliding mode for a 7-DOF lower limb exoskeleton

DOI10.1007/S11012-021-01308-4zbMath1523.70010OpenAlexW3129189739MaRDI QIDQ6172549

Unnamed Author, Mahmood Mazare, Majied Mokhtari

Publication date: 19 July 2023

Published in: Meccanica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11012-021-01308-4

zbMATH Keywords

Lyapunov theoryharmony search algorithmmaximum stabilityoptimal energy consumptionzero moment point criterion

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)

Cites Work

• Unnamed Item
• A novel adaptive-gain supertwisting sliding mode controller: methodology and application
• Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
• Advances in variable structure and sliding mode control. Many papers based on the expansions of selected presentations from the 8th IEEE international workshop on variable structure systems (VSS'04), Barcelona, Spain, September 2004.
• Continuous Nested Algorithms : The Fifth Generation of Sliding Mode Controllers
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Robust tracking control of robots by a linear feedback law
• Sliding order and sliding accuracy in sliding mode control

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